{"id":"https://openalex.org/W2046750208","doi":"https://doi.org/10.1109/cira.2009.5423216","title":"Exploration and mapping for unstructured robot teams","display_name":"Exploration and mapping for unstructured robot teams","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2046750208","doi":"https://doi.org/10.1109/cira.2009.5423216","mag":"2046750208"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2009.5423216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2009.5423216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101743775","display_name":"Adri\u00e1n Mart\u00edn","orcid":"https://orcid.org/0000-0001-7127-0073"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Adrian Martin","raw_affiliation_strings":["Institute of AeroSpace Studies, University of Toronto, Toronto, ONT, Canada","University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of AeroSpace Studies, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101626898","display_name":"Bahman Emami","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Reza Emami","raw_affiliation_strings":["Space Mechatronics Group, Institute of AeroSpace Studies, University of Toronto, Toronto, ONT, Canada","University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Space Mechatronics Group, Institute of AeroSpace Studies, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7374221086502075},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7372954487800598},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.73668372631073},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7324483394622803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5516331791877747},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5219678282737732},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.514763593673706},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5099455118179321},{"id":"https://openalex.org/keywords/avatar","display_name":"Avatar","score":0.48908478021621704},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4863170087337494},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4679274559020996},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43882229924201965},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.4246410131454468},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.41645753383636475},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40129733085632324},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3598247170448303},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.33856260776519775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19174900650978088},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.16236382722854614}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7374221086502075},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7372954487800598},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.73668372631073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7324483394622803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5516331791877747},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5219678282737732},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.514763593673706},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5099455118179321},{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.48908478021621704},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4863170087337494},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4679274559020996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43882229924201965},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.4246410131454468},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.41645753383636475},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40129733085632324},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3598247170448303},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.33856260776519775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19174900650978088},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.16236382722854614},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cira.2009.5423216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2009.5423216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W95294568","https://openalex.org/W1518238452","https://openalex.org/W1518754760","https://openalex.org/W1533885008","https://openalex.org/W1580562905","https://openalex.org/W1586180972","https://openalex.org/W1987864653","https://openalex.org/W1990186220","https://openalex.org/W2007278145","https://openalex.org/W2051954194","https://openalex.org/W2064152423","https://openalex.org/W2085395055","https://openalex.org/W2109704280","https://openalex.org/W2111810771","https://openalex.org/W2115456688","https://openalex.org/W2135060393","https://openalex.org/W2148442026","https://openalex.org/W2156027558","https://openalex.org/W2327960000","https://openalex.org/W2544446053","https://openalex.org/W2622388297","https://openalex.org/W2785203910","https://openalex.org/W6631096410","https://openalex.org/W6748440375"],"related_works":["https://openalex.org/W2297768894","https://openalex.org/W2378076731","https://openalex.org/W3109014690","https://openalex.org/W2122405502","https://openalex.org/W2114254072","https://openalex.org/W2127721729","https://openalex.org/W2884798239","https://openalex.org/W1531253727","https://openalex.org/W2366669483","https://openalex.org/W2333635112"],"abstract_inverted_index":{"As":[0],"the":[1,10,31,46,55,64,70,101,104,108],"applications":[2],"of":[3,12,33,51,66,103,110],"mobile":[4],"robot":[5,52],"teams":[6],"become":[7],"more":[8],"complex,":[9],"impracticality":[11],"designing":[13],"custom":[14],"solutions":[15],"is":[16,27,41],"becoming":[17],"increasingly":[18],"obvious.":[19],"A":[20],"new":[21],"approach":[22,43,83],"to":[23,29,57,59,69],"control":[24,71,77],"system":[25,56,122],"design":[26,50],"required":[28],"facilitate":[30],"development":[32],"modular":[34],"and":[35,48,62,84,91,112,114],"scalable":[36],"systems.":[37],"Control":[38],"ad":[39],"libitum":[40],"an":[42,89],"that":[44],"decouples":[45],"software":[47],"hardware":[49,61],"teams,":[53],"allowing":[54],"adapt":[58],"changing":[60],"simplifying":[63],"process":[65],"adding":[67],"functionality":[68],"system.":[72],"The":[73,97],"\u00bfHost,":[74],"Avatar,":[75],"Agent\u00bf":[76],"architecture":[78],"was":[79],"developed":[80],"utilizing":[81],"this":[82],"preliminary":[85],"experimental":[86,98],"results":[87,99],"from":[88],"exploration":[90],"mapping":[92],"scenario":[93],"are":[94],"presented":[95],"here.":[96],"demonstrate":[100],"viability":[102],"architecture,":[105],"specifically":[106],"in":[107],"areas":[109],"modularity":[111],"scalability,":[113],"provide":[115],"some":[116],"insights":[117],"into":[118],"how":[119],"such":[120],"a":[121],"could":[123],"work":[124],"for":[125],"real-world":[126],"applications.":[127]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}